WO2012168038A1 - Vehicle camera system for providing a uninterrupted image of the vehicle surroundings and corresponding method - Google Patents

Vehicle camera system for providing a uninterrupted image of the vehicle surroundings and corresponding method Download PDF

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Publication number
WO2012168038A1
WO2012168038A1 PCT/EP2012/058915 EP2012058915W WO2012168038A1 WO 2012168038 A1 WO2012168038 A1 WO 2012168038A1 EP 2012058915 W EP2012058915 W EP 2012058915W WO 2012168038 A1 WO2012168038 A1 WO 2012168038A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
image
vehicle environment
frame
camera system
Prior art date
Application number
PCT/EP2012/058915
Other languages
German (de)
French (fr)
Inventor
Wolfgang Niehsen
Markus Respondek
Jochen Wingbermuehle
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2012168038A1 publication Critical patent/WO2012168038A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint

Definitions

  • Vehicle camera systems for providing a complete picture of the vehicle environment and corresponding method
  • the present invention relates to a vehicle camera system and a corresponding method for providing a complete image of the vehicle environment. Also, the invention relates to a vehicle with such
  • FIG. 1 shows a vehicle 10 with such a multi-camera system 20 with four cameras 30, 40, 50, 60 and a central processing unit
  • Control unit 90 for surround view display In general, such as the second generation VW Touareg from 04/2010, are one
  • each side camera 40, 50 integrated in the two exterior mirrors and a rear camera 60 at the rear of the vehicle in the grip of the trunk lid.
  • the Central processing unit (image processing unit) 90 Vehicle environment to the central processing unit (image processing unit) 90 transmitted, transformed with a suitable imaging model and to an overall image containing the own vehicle 10 as a central pixel, assembled and brought to display on a display 70.
  • the Cameras 30, 40, 50, 60 and the central processing unit 90 are by means of
  • the camera modules 30, 40, 50, 60 are each equipped with an optical system which allows a horizontal opening angle of more than 180 ° (fish-eye optics), so that with the four cameras 30, 40, 50, 60 a gapless
  • the camera signals are analog, such as via NTSC (National Television Systems Committee) or via PAL (Phase Alternating Line), digital with lossy coding, such as by means of MJPEG (Moving Joint Photographic Experts Group) or MPEG4 (Moving Picture Experts Group) , or digitally without data compression, such as LVDS (Low Voltage Diferential Signaling) transmitted.
  • NTSC National Television Systems Committee
  • PAL Phase Alternating Line
  • digital with lossy coding such as by means of MJPEG (Moving Joint Photographic Experts Group) or MPEG4 (Moving Picture Experts Group)
  • digitally without data compression such as LVDS (Low Voltage Diferential Signaling) transmitted.
  • Analogue surround systems (surround view systems) have a limited resolution and therefore provide an unsatisfactory image quality.
  • dynamic artifacts contain coding artifacts (block artifacts, time-varying image resolution, etc.).
  • Image data compensation the components for connecting the digital camera modules to the central processing unit are very expensive.
  • Camera modules including the basic characteristic in the form of an intelligent reversing camera detectable.
  • a vehicle rear view system in which a rear panoramic view with at least two video cameras is produced. It is further described that it is determined by means of a preprocessing, which is performed for each camera, which image part overlaps and which not. In order to be able to determine the overlapping image areas, the respective preprocessing processes of the images recorded by means of the individual cameras must coincide with one another
  • the overlapping image areas and an image overlapping area obtained by correlating the information from both cameras are respectively separately provided to a display.
  • the possibility of a decentralized pre-processing and the separate transmission of different image areas, such as the overlapping and non-overlapping areas, of the two cameras is thereby opened up.
  • DE 100 35 223 A1 discloses a device and a corresponding method for monitoring the surroundings of an object, in which a large amount of image data, which comprise the images of a plurality of video cameras with overlapping fields of view, is displayed in an appropriately short time at an evaluation unit must be transferred.
  • the images of the plurality of video cameras are transmitted to an evaluation unit and assembled centrally in the evaluation unit into an overall image, wherein the overlapping area or overlapping area is taken into account in the evaluation and as a continuous transition between
  • the vehicle camera system according to the invention for providing a complete image of the vehicle environment comprises one or more
  • Camera modules each comprising a camera and a local arithmetic unit, wherein the local arithmetic units are each adapted to pre-process the images of the vehicle environment taken by the associated camera. Furthermore, the arithmetic units each comprise at least one analog output for signal transmission.
  • the vehicle camera system has an image fusion unit, which is designed to be transmitted from the preprocessed, analog transmitted by means of the analog outputs of the local processing units Images of the vehicle environment to produce at least a complete full screen of at least a portion of the vehicle environment.
  • the invention provides a method for providing at least one complete image of at least one region of the vehicle environment, which is carried out by means of a vehicle camera system according to the invention.
  • the method one or more images of the vehicle environment are captured and preprocessed, and one or more analog image signals, each associated with a preprocessed image of the vehicle
  • Image signals at least one frame signal corresponding to a gap-free frame of the vehicle surrounding area generated.
  • connection of the computing units comprised by the camera modules to the central one takes place
  • Image fusion unit analog which causes a high compatibility of the vehicle camera system according to the invention to the components already available today in motor vehicles. This eliminates the high cost of the components
  • Vehicle camera system each adapted to perform an image interpretation of the images taken by the associated cameras of the vehicle environment and / or to transform the images of the vehicle environment taken by the associated cameras each into a partial image, each of a predefined image section of at least one of the
  • Image fusion unit generated full screen of the vehicle environment area corresponds.
  • intelligent camera modules are used, each one integrated in particular
  • the preprocessing according to the invention of the individual camera images results in a significant data reduction without loss of information, which makes it possible to use cost-minimized crosslinking solutions.
  • the image fusion unit includes a multi-camera controller (e.g., EPSON
  • Quadrants together.
  • One quadrant each represents a suitably preprocessed image of a camera.
  • the analogue connection of the camera modules to the image fusion unit enables the use of standard multi-camera controllers (eg EPSON S2S65P10 or S2D13P04)
  • the use of the concept of decentralized intelligence ensures the scalability of a vehicle camera system according to the invention from, for example, a reversing camera to an inventive intelligent vehicle camera system with preferably four or more individual cameras.
  • the vehicle camera system according to the invention comprises a
  • a display device adapted to be read by one of
  • Image fusion unit comprised analog output to display analog transmitted full screen of the vehicle environment area.
  • the image fusion unit comprises a computing unit configured to process at least one further frame of the vehicle surroundings area and / or additional information, in particular object detections of a vehicle Object detection system, in at least one frame of the
  • the displaying vehicle multi-camera system (such as a surround-view system) with respect to the object recognition.
  • a vehicle is provided with a vehicle camera system according to the invention.
  • the driver of such a vehicle can then be warned early when detecting an obstacle.
  • Accessing various vehicle data such as the steering angle, the wheel speeds and the inertial sensor data, and thereby be designed in particular for intervening in the vehicle dynamics when detecting an obstacle.
  • the risk of collision of the vehicle is preferably significantly reduced when parking.
  • FIG. 1 shows a vehicle with a vehicle multi-camera system according to the
  • Figure 2 is a complete full screen of the vehicle with its entire
  • Vehicle environment from the bird's eye view which was generated by means of a vehicle camera system according to the invention according to a first embodiment of the invention
  • FIG. 3 is a block diagram of an inventive
  • FIG. 4 is a block diagram of a vehicle system according to the invention according to a second embodiment of the invention.
  • Embodiments of the invention Figure 2 shows a full screen 72 of the vehicle with its entire
  • Vehicle environment from a bird's eye view which was generated by means of a vehicle camera system according to the invention (not shown) according to a first embodiment of the invention and was brought to display on a display 70.
  • Embodiment of the invention comprises a plurality of intelligent camera modules, each comprising a highly integrated computing unit for decentralized image signal processing and image interpretation.
  • the arithmetic unit is either integrated directly on the imaging imager module or is integrated as a separate component on the imager PCB (Printed Circuit Board) or on one or more additional PCBs in the camera module.
  • the arithmetic unit can be used, for example, as DSP (Digital Signal Processor), FPGA (Field Programmable Gate
  • the arithmetic unit makes in addition to the image interpretation in particular a non-linear transformation of the input image to generate the
  • FIG. 3 shows a block diagram of an inventive device
  • Vehicle camera system according to the first embodiment of the invention.
  • the image detail (patch) 36, 46, 56, 66 generated in each case by means of a nonlinear transformation is converted analogously (NTSC / PAL) and to a central image
  • Image fusion unit 90 transfer, so that the networking of the individual intelligent camera modules 30, 40, 50, 60 with the central image fusion unit 90 cost by means already available in a motor vehicle
  • Components can be made.
  • Multizerkontrollers 91 the preprocessed frames (patches) 36, 46, 56, 66 assembled into a frame 71.
  • This frame 71 includes, for example, four tiles, each tile including a suitably preprocessed frame 36, 46, 56, 66 of a camera 30, 40, 50, 60 of the multi-camera system 20.
  • a control line 93 to the image fusion unit 90 allows the assembly of the individual camera images 36, 46, 56, 66 (front view, side views, rear view, top view) and possibly also a static plan view 1 1 of the own vehicle.
  • the analog image signals are transmitted via the coaxial lines 37, 47, 57, 67 between the camera modules 30, 40, 50, 60 and the multi-camera controller 91, processed by the latter and transmitted via the further coaxial line 92 to a display unit (head unit - HU) 100 that of the
  • Multivaluekontroller 91 on the control line 93 receives a control signal.
  • the image signal generated by the multi-camera controller 91 can be digitally further processed into a frame 72 or converted back into an analog signal (NTSC / PAL) by means of an encoder so as to be fed directly to the display unit (HU) 100.
  • the display unit (HU) 100 is in this case from the frame 71 by means of a further optimization of
  • Figure 4 shows a block diagram of a vehicle system 20 according to the invention according to a second embodiment of the invention.
  • Vehicle camera system 20 according to the second embodiment of the invention, in particular a central processing unit 1 10. If the digital output signal 71 of the multi-camera controller 91 is fed into the additional, comprised of the image fusion unit 90 computing unit 1 10, so is an independent
  • the display system 100 can process this Full screen 72, which is transmitted analogously, immediately and without post-processing on the display 70 show.
  • the central processing unit 110 which is included in the image fusion unit 90 of the vehicle system 20 according to the second embodiment of the invention, can also additionally offer the option of patch composition and additional
  • the central processing unit 110 has access to various vehicle data 120 via the bus system 111, such as the steering angle, the wheel speeds and the inertial sensor data.
  • the bus system 111 may include a Car Area Network Bus (CAN), a Local Interconnect Network Bus (LIN), or a Media Oriented Systems Transport Bus (MOST).
  • CAN Car Area Network Bus
  • LIN Local Interconnect Network Bus
  • MOST Media Oriented Systems Transport Bus
  • Coaxial lines 37, 47, 57, 67 between the camera modules 30, 40, 50, 60 and the multi-camera controller 91 which are processed by this and transmitted via the further coaxial line 92 to the display unit (HU) 100, which from the multi-camera controller 91 on the control line 93 receives a control signal.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)

Abstract

The invention relates to a vehicle camera for providing an uninterrupted image of the vehicle surroundings by means of one or more camera modules, each module comprising a camera and a local processing unit. Each local processing unit is designed such that images of the vehicle surroundings captured by the associated camera are to be preprocessed and each unit comprises at least one analogue output for signal transmission. Said vehicle camera system comprises an image fusion unit which is designed to produce at least one uninterrupted complete image of at least one area of the vehicle surroundings, from the preprocessed images transmitted in an analogue manner using the analogue outputs of the local processing units.

Description

Beschreibung  description
Titel title
Fahrzeugkamerasvstem zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung und entsprechendes Verfahren  Vehicle camera systems for providing a complete picture of the vehicle environment and corresponding method
Stand der Technik State of the art
Die vorliegende Erfindung betrifft ein Fahrzeugkamerasystem und ein entsprechendes Verfahren zur Bereitstellung eines lückenloses Bildes der Fahrzeugumgebung. Auch betrifft die Erfindung ein Fahrzeug mit einem solchenThe present invention relates to a vehicle camera system and a corresponding method for providing a complete image of the vehicle environment. Also, the invention relates to a vehicle with such
Fahrzeugkamerasystem. Vehicle camera system.
Aus dem Stand der Technik sind Multikamerasysteme zur Rundsicht- beziehungsweise Draufsichtdarstellung (Surround-View- beziehungsweise Top- View-Darstellung) bekannt, die bildgebende Systeme auf der Basis von vierFrom the state of the art, multi-camera systems for panoramic or top view representation (surround-view or top-view representation) are known, the imaging systems based on four
Weitwinkelkameramodulen und einer zentralen Recheneinheit zur Bildsynthese umfassen. Figur 1 zeigt ein Fahrzeug 10 mit einem solchen Multikamerasystem 20 mit vier Kameras 30, 40, 50, 60 und einer zentralen Recheneinheit Wide-angle camera modules and a central processing unit for image synthesis include. FIG. 1 shows a vehicle 10 with such a multi-camera system 20 with four cameras 30, 40, 50, 60 and a central processing unit
(Steuergerät) 90 zur Surround-View-Darstellung. Im Allgemeinen, wie zum Beispiel beim VW Touareg der zweiten Generation von 04/2010, sind eine(Control unit) 90 for surround view display. In general, such as the second generation VW Touareg from 04/2010, are one
Frontkamera 30 im Kühlergrill, jeweils eine Seitenkamera 40, 50 in den beiden Außenspiegeln sowie eine Heckkamera 60 am Fahrzeugheck im Bereich der Griffmulde des Kofferraumdeckels integriert. Zur Synthese der Abbildung des Fahrzeugumfelds aus der Perspektive einer virtuellen Kamera über dem Fahrzeug (Vogelperspektive) werden die einzelnen Kamerabilder der vier verschiedenen Teile 35, 45, 55, 65 der Front camera 30 in the grille, each side camera 40, 50 integrated in the two exterior mirrors and a rear camera 60 at the rear of the vehicle in the grip of the trunk lid. To synthesize the image of the vehicle environment from the perspective of a virtual camera above the vehicle (bird's eye view), the individual camera images of the four different parts 35, 45, 55, 65 of the
Fahrzeugumgebung zu der zentralen Recheneinheit (Bildverarbeitungseinheit) 90 übertragen, mit einem geeigneten Abbildungsmodel transformiert und zu einem Gesamtbild, welches das eigene Fahrzeug 10 als zentrales Bildelement enthält, zusammengesetzt und zur Anzeige auf einem Display 70 gebracht. Die Kameras 30, 40, 50, 60 und die zentrale Recheneinheit 90 sind mittels Vehicle environment to the central processing unit (image processing unit) 90 transmitted, transformed with a suitable imaging model and to an overall image containing the own vehicle 10 as a central pixel, assembled and brought to display on a display 70. The Cameras 30, 40, 50, 60 and the central processing unit 90 are by means of
Videoleitungen 80 miteinander verbunden. Video lines 80 connected to each other.
Die Kameramodule 30, 40, 50, 60 sind jeweils mit einer Optik ausgestattet, welche einen horizontalen Öffnungswinkel von mehr als 180° ermöglicht (Fish- Eye-Optik), sodass mit den vier Kameras 30, 40, 50, 60 eine lückenlose The camera modules 30, 40, 50, 60 are each equipped with an optical system which allows a horizontal opening angle of more than 180 ° (fish-eye optics), so that with the four cameras 30, 40, 50, 60 a gapless
Abdeckung des gesamten Fahrzeugumfelds erreicht werden kann. Cover the entire vehicle environment can be achieved.
Die Kamerasignale werden analog, wie zum Beispiel über NTSC (National Television Systems Committee) oder über PAL (Phase Alternating Line), digital mit verlustbehafteter Codierung, wie zum Beispiel mittels MJPEG (Moving Joint Photographic Experts Group) oder MPEG4 (Moving Picture Experts Group), oder digital ohne Datenkompression, wie zum Beispiel mittels LVDS (Low Voltage Diferential Signaling), übertragen. The camera signals are analog, such as via NTSC (National Television Systems Committee) or via PAL (Phase Alternating Line), digital with lossy coding, such as by means of MJPEG (Moving Joint Photographic Experts Group) or MPEG4 (Moving Picture Experts Group) , or digitally without data compression, such as LVDS (Low Voltage Diferential Signaling) transmitted.
Analoge Rundsichtsysteme (Surround-View-Systeme) haben eine beschränkte Auflösung und liefern deswegen eine nicht zufriedenstellende Bildqualität. Analogue surround systems (surround view systems) have a limited resolution and therefore provide an unsatisfactory image quality.
Im Fall von digitalen Rundsichtsystemen mit verlustbehafteter Bildcodierung treten bei dynamischen Szeneninhalten Codierartefakte (Blockartefakte, zeitvariable Bildauflösung, usw.) auf. In the case of digital surround view systems with lossy picture coding, dynamic artifacts contain coding artifacts (block artifacts, time-varying image resolution, etc.).
Im Falle eines Rundsichtsystems (Surround-View-System) ohne In the case of a panoramic system (surround view system) without
Bilddatenkompensation sind die Komponenten zur Anbindung der digitalen Kameramodule an die zentrale Recheneinheit sehr kostenintensiv. Image data compensation, the components for connecting the digital camera modules to the central processing unit are very expensive.
Es ist ferner eine fehlende bzw. unzureichende Erweiterbarkeit eines bekannten, anzeigenden Rundsichtsystems zu einem intelligenten Umfelderfassungssystem mit Bildinterpretation zur Objekterkennung feststellbar. It is also a lack or insufficient expandability of a known, displaying panoramic system to an intelligent environment detection system with image interpretation for object detection detectable.
Es ist weiterhin eine fehlende bzw. unzureichende Skalierbarkeit eines bekannten Rundsichtsystems bezüglich der Anzahl der verwendeten There is also a lack of or insufficient scalability of a known panoramic system with respect to the number of used
Kameramodule einschließlich der Basisausprägung in Form einer intelligenten Rückfahrkamera feststellbar. Camera modules including the basic characteristic in the form of an intelligent reversing camera detectable.
Aus dem Dokument DE 101 64 516 A1 ist ein Fahrzeugrückblicksystem bekannt, bei dem eine rückwärtige Panoramaansicht mit mindestens zwei Videokameras erzeugt wird. Es wird weiterhin beschrieben, dass mittels einer Vorverarbeitung, die für jede Kamera durchgeführt wird, festgestellt wird, welcher Bildteil sich überschneidet und welcher nicht. Um die sich überlappenden Bildbereiche feststellen zu können, müssen die jeweiligen Vorverarbeitungsprozesse der mittels der einzelnen Kameras aufgenommenen Bilder miteinander From the document DE 101 64 516 A1 a vehicle rear view system is known in which a rear panoramic view with at least two video cameras is produced. It is further described that it is determined by means of a preprocessing, which is performed for each camera, which image part overlaps and which not. In order to be able to determine the overlapping image areas, the respective preprocessing processes of the images recorded by means of the individual cameras must coincide with one another
kommunizieren und deswegen eine große Menge Bilddaten in einer geeignet kurzen Zeit untereinander austauschen. Danach werden die sich überlappenden Bildbereiche und ein durch Korrelation der Information von beiden Kameras erhaltener Bildüberlappungsbereich jeweils getrennt an einer Anzeige geliefert. Dabei wird die Möglichkeit einer dezentralen Vorerarbeitung und des getrennten Übertragens von verschiedenen Bildbereichen, wie die Überlappungs- und Nichtüberlappungsbereiche, der beiden Kameras eröffnet. Die getrennte communicate and therefore exchange a large amount of image data with each other in a suitably short time. Thereafter, the overlapping image areas and an image overlapping area obtained by correlating the information from both cameras are respectively separately provided to a display. The possibility of a decentralized pre-processing and the separate transmission of different image areas, such as the overlapping and non-overlapping areas, of the two cameras is thereby opened up. The separated
Übertragung der Inhalte dieser verschiedenen Bildbereiche erfolgt jeweils digital. Transmission of the contents of these different image areas is done digitally.
Ferner ist aus dem Dokument DE 100 35 223 A1 eine Vorrichtung und ein entsprechendes Verfahren zur Überwachung der Umgebung eines Objekts bekannt, bei dem eine große Menge an Bilddaten, die die Bilder mehrerer Videokameras mit überschneidenden Blickfeldern umfassen, in einer geeignet kurzen Zeit an einer Auswerteeinheit übertragen werden müssen. Die Bilder der mehreren Videokameras werden an eine Auswerteeinheit übertragen und zentral in der Auswerteeinheit zu einem Gesamtbild zusammengesetzt, wobei der Überlappungsbereich bzw. Überschneidungsbereich in der Auswertung berücksichtigt und als kontinuierlicher Übergang zwischen Furthermore, DE 100 35 223 A1 discloses a device and a corresponding method for monitoring the surroundings of an object, in which a large amount of image data, which comprise the images of a plurality of video cameras with overlapping fields of view, is displayed in an appropriately short time at an evaluation unit must be transferred. The images of the plurality of video cameras are transmitted to an evaluation unit and assembled centrally in the evaluation unit into an overall image, wherein the overlapping area or overlapping area is taken into account in the evaluation and as a continuous transition between
Einzelbilddarstellungen benachbarter Erfassungseinrichtungen dargestellt wird. Dabei erfolgt eine hier beschriebene Bildfusion auf rein digitaler Ebene. Single image representations of adjacent detection devices is shown. Here, an image fusion described here takes place on a purely digital level.
Offenbarung der Erfindung Disclosure of the invention
Das erfindungsgemäße Fahrzeugkamerasystem zur Bereitstellung eines lückenloses Bildes der Fahrzeugumgebung umfasst ein oder mehrere The vehicle camera system according to the invention for providing a complete image of the vehicle environment comprises one or more
Kameramodule, die jeweils eine Kamera und eine lokale Recheneinheit umfassen, wobei die lokalen Recheneinheiten jeweils dazu ausgebildet sind, die von der zugeordneten Kamera aufgenommenen Bilder der Fahrzeugumgebung vorzuverarbeiten. Ferner umfassen die Recheneinheiten jeweils mindestens einen Analogausgang zur Signalübertragung. Das Fahrzeugkamerasystem weist eine Bildfusionseinheit auf, die dazu ausgebildet ist, aus den vorverarbeiteten, mittels der Analogausgänge der lokalen Recheneinheiten analog übertragenen Bilder der Fahrzeugumgebung mindestens ein lückenloses Vollbildes zumindest eines Bereichs der Fahrzeugumgebung zu erzeugen. Camera modules, each comprising a camera and a local arithmetic unit, wherein the local arithmetic units are each adapted to pre-process the images of the vehicle environment taken by the associated camera. Furthermore, the arithmetic units each comprise at least one analog output for signal transmission. The vehicle camera system has an image fusion unit, which is designed to be transmitted from the preprocessed, analog transmitted by means of the analog outputs of the local processing units Images of the vehicle environment to produce at least a complete full screen of at least a portion of the vehicle environment.
Weiter wird durch die Erfindung ein Verfahren zur Bereitstellung mindestens eines lückenloses Vollbildes zumindest eines Bereichs der Fahrzeugumgebung vorgestellt, das mittels eines erfindungsgemäßen Fahrzeugkamerasystems durchgeführt wird. Bei dem Verfahren werden ein oder mehrere Bilder der Fahrzeugumgebung aufgenommen und vorverarbeitet und ein oder mehrere analoge Bildsignale, die jeweils einem vorverarbeiteten Bild der Furthermore, the invention provides a method for providing at least one complete image of at least one region of the vehicle environment, which is carried out by means of a vehicle camera system according to the invention. In the method, one or more images of the vehicle environment are captured and preprocessed, and one or more analog image signals, each associated with a preprocessed image of the vehicle
Fahrzeugumgebung entsprechen, erzeugt. Ferner wird aus den analogenVehicle environment generated generated. Furthermore, from the analog
Bildsignalen mindestens ein Vollbildsignal, das einem lückenlosen Vollbild des Fahrzeugumgebungsbereichs entspricht, erzeugt. Image signals at least one frame signal corresponding to a gap-free frame of the vehicle surrounding area generated.
Die Unteransprüche zeigen bevorzugte Weiterbildungen der Erfindung. The dependent claims show preferred developments of the invention.
Bei dem erfindungsgemäßen Fahrzeugkamerasystem erfolgt die Anbindung der von den Kameramodulen umfassten Recheneinheiten an die zentrale In the vehicle camera system according to the invention, the connection of the computing units comprised by the camera modules to the central one takes place
Bildfusionseinheit analog, was eine hohe Kompatibilität des erfindungsgemäßen Fahrzeugkamerasystems zu den heute bereits in Kraftfahrzeugen verfügbaren Komponenten bewirkt. Dadurch entfallen die hohen Kosten der Komponenten zurImage fusion unit analog, which causes a high compatibility of the vehicle camera system according to the invention to the components already available today in motor vehicles. This eliminates the high cost of the components
Anbindung von digitalen Kameramodulen an die Bildfusionseinheit, wodurch eine effiziente Realisierung eines kostengünstigen Fahrzeugkamerasystem Connection of digital camera modules to the image fusion unit, whereby an efficient realization of a low-cost vehicle camera system
(Surround-View-System) ermöglicht wird. Insbesondere sind die lokalen Recheneinheiten des erfindungsgemäßen (Surround view system) is enabled. In particular, the local arithmetic units of the invention
Fahrzeugkamerasystems jeweils dazu ausgebildet, eine Bildinterpretation der von den zugeordneten Kameras aufgenommenen Bilder der Fahrzeugumgebung durchzuführen und/oder die von den zugeordneten Kameras aufgenommenen Bilder der Fahrzeugumgebung jeweils in ein Teilbild zu transformieren, das jeweils einem vordefinierten Bildausschnitt des mindestens einen von der Vehicle camera system each adapted to perform an image interpretation of the images taken by the associated cameras of the vehicle environment and / or to transform the images of the vehicle environment taken by the associated cameras each into a partial image, each of a predefined image section of at least one of the
Bildfusionseinheit erzeugten Vollbildes des Fahrzeugumgebungsbereichs entspricht. Image fusion unit generated full screen of the vehicle environment area corresponds.
Bei dem erfindungsgemäßen Fahrzeugkamerasystem werden intelligente Kameramodule verwendet, die jeweils eine insbesondere integrierte In the vehicle camera system according to the invention intelligent camera modules are used, each one integrated in particular
Recheneinheit und einen Analog-Ausgang (PAL/NTSC) zur Signalübertragung aufweisen. Das Konzept der dezentralen Intelligenz ermöglicht eine signifikante Datenreduktion ohne Informationsverlust, da die erforderliche nichtlineare Transformation des partiellen Bildsignals bereits im jeweiligen Kameramodul erfolgen kann. Have arithmetic unit and an analog output (PAL / NTSC) for signal transmission. The concept of decentralized intelligence allows for a significant Data reduction without loss of information, since the required non-linear transformation of the partial image signal can already take place in the respective camera module.
Durch die erfindungsgemäße Vorverarbeitung der einzelnen Kamerabilder erfolgt eine signifikante Datenreduktion ohne Informationsverlust, wodurch der Einsatz kostenminimaler Vernetzungslösungen ermöglicht wird. The preprocessing according to the invention of the individual camera images results in a significant data reduction without loss of information, which makes it possible to use cost-minimized crosslinking solutions.
Die Bildfusionseinheit umfasst einen Multikamerakontroller (z.B. EPSON The image fusion unit includes a multi-camera controller (e.g., EPSON
S2S65P10 oder S2D13P04), der die von zum Beispiel vier analog S2S65P10 or S2D13P04), which is analogous to that of four, for example
angebundenen intelligenten Kameramodulen aufgenommenen Bilder der Fahrzeugumgebung zu einem Vollbild der Fahrzeugumgebung mit vier connected to the intelligent camera modules captured images of the vehicle environment to a full screen of the vehicle environment with four
Quadranten zusammenfügt. Jeweils ein Quadrant repräsentiert ein geeignet vorverarbeitetes Bild einer Kamera. Quadrants together. One quadrant each represents a suitably preprocessed image of a camera.
Die analoge Anbindung der Kameramodule an die Bildfusionseinheit ermöglicht die Verwendung von Standard Multikamerakontrollern (z.B. EPSON S2S65P10 oder S2D13P04) The analogue connection of the camera modules to the image fusion unit enables the use of standard multi-camera controllers (eg EPSON S2S65P10 or S2D13P04)
Ferner wird durch die Verwendung des Konzeptes der dezentralen Intelligenz die Skalierbarkeit eines erfindungsgemäßen Fahrzeugkamerasystems von beispielsweise einer Rückfahrkamera bis zu einem erfindungsgemäßen, intelligenten Fahrzeugkamerasystem mit vorzugsweise vier oder mehreren Einzelkameras gewährleistet. Furthermore, the use of the concept of decentralized intelligence ensures the scalability of a vehicle camera system according to the invention from, for example, a reversing camera to an inventive intelligent vehicle camera system with preferably four or more individual cameras.
In einer besonders vorteilhaften und kostengünstigen Ausführungsform der Erfindung umfasst das erfindungsgemäße Fahrzeugkamerasystem eine In a particularly advantageous and inexpensive embodiment of the invention, the vehicle camera system according to the invention comprises a
Anzeigevorrichtung, die dazu ausgebildet ist, das mittels eines von der A display device adapted to be read by one of
Bildfusionseinheit umfassten Analogausganges analog übertragene Vollbild des Fahrzeugumgebungsbereichs anzuzeigen. Image fusion unit comprised analog output to display analog transmitted full screen of the vehicle environment area.
Vorzugsweise ist die Anzeigeeinheit und/oder eine zentrale, von der Preferably, the display unit and / or a central, of the
Bildfusionseinheit umfassten Recheneinheit dazu ausgebildet, mindestens ein Vollbild des Fahrzeugumgebungsbereichs weiter zu verarbeiten und/oder zusätzliche Informationen, insbesondere Objektdetektionen eines Objektdetektionssystems, in mindestens einem Vollbild des The image fusion unit comprises a computing unit configured to process at least one further frame of the vehicle surroundings area and / or additional information, in particular object detections of a vehicle Object detection system, in at least one frame of the
Fahrzeugumgebungsbereichs einzufügen. Vehicle environment.
Durch die Erfindung wird die modulare Erweiterbarkeit eines By the invention, the modular expandability of a
erfindungsgemäßen, anzeigenden Fahrzeugmultikamerasystems (wie z.B. eines Surround-View-Systems) bezüglich der Objekterkennung ermöglicht. According to the invention, the displaying vehicle multi-camera system (such as a surround-view system) with respect to the object recognition.
Erfindungsgemäß wird weiterhin ein Fahrzeug mit einem erfindungsgemäßen Fahrzeugkamerasystem bereitgestellt. Der Fahrer eines solchen Fahrzeuges kann dann beim Erkennen eines Hindernisses frühzeitig gewarnt werden. According to the invention, a vehicle is provided with a vehicle camera system according to the invention. The driver of such a vehicle can then be warned early when detecting an obstacle.
Insbesondere kann das erfindungsgemäße Fahrzeugkamerasystem zum In particular, the vehicle camera system according to the invention for
Zugreifen auf verschiedene Fahrzeugdaten, wie zum Beispiel den Lenkwinkel, die Raddrehzahlen und die Inertialsensordaten, und dadurch insbesondere auch zum Eingreifen in die Fahrzeugdynamik beim Erkennen eines Hindernisses ausgebildet sein. Dadurch wird die Kollisionsgefahr des Fahrzeugs vorzugsweise beim Einparken deutlich reduziert. Accessing various vehicle data, such as the steering angle, the wheel speeds and the inertial sensor data, and thereby be designed in particular for intervening in the vehicle dynamics when detecting an obstacle. As a result, the risk of collision of the vehicle is preferably significantly reduced when parking.
Zeichnung drawing
Nachfolgend werden Ausführungsbeispiele der Erfindung unter Bezugnahme auf die begleitende Zeichnung im Detail beschrieben. In der Zeichnung ist: Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings. In the drawing is:
Figur 1 ein Fahrzeug mit einem Fahrzeugmultikamerasystem nach dem 1 shows a vehicle with a vehicle multi-camera system according to the
Stand der Technik,  State of the art,
Figur 2 ein lückenloses Vollbild des Fahrzeuges mit seinem gesamten Figure 2 is a complete full screen of the vehicle with its entire
Fahrzeugumfeld aus der Vogelperspektive, das mittels eines erfindungsgemäßen Fahrzeugkamerasystems nach einer ersten Ausführungsform der Erfindung erzeugt wurde,  Vehicle environment from the bird's eye view, which was generated by means of a vehicle camera system according to the invention according to a first embodiment of the invention,
Figur 3 ein Blockschaltbild eines erfindungsgemäßen Figure 3 is a block diagram of an inventive
Fahrzeugkamerasystems nach der ersten Ausführungsform der Erfindung, und  Vehicle camera system according to the first embodiment of the invention, and
Figur 4 ein Blockschaltbild eines erfindungsgemäßen Fahrzeugsystems nach einer zweiten Ausführungsform der Erfindung. Figure 4 is a block diagram of a vehicle system according to the invention according to a second embodiment of the invention.
Ausführungsformen der Erfindung Figur 2 zeigt ein Vollbild 72 des Fahrzeuges mit seinem gesamten Embodiments of the invention Figure 2 shows a full screen 72 of the vehicle with its entire
Fahrzeugumfeld aus der Vogelperspektive, das mittels eines erfindungsgemäßen Fahrzeugkamerasystems (nicht dargestellt) nach einer ersten Ausführungsform der Erfindung erzeugt wurde und zur Anzeige auf einem Display 70 gebracht wurde. Vehicle environment from a bird's eye view, which was generated by means of a vehicle camera system according to the invention (not shown) according to a first embodiment of the invention and was brought to display on a display 70.
Das erfindungsgemäße Fahrzeugkamerasystem nach der ersten The vehicle camera system according to the invention after the first
Ausführungsform der Erfindung umfasst mehrere intelligente Kameramodule, die jeweils eine hochintegrierte Recheneinheit zur dezentralen Bildsignalverarbeitung und Bildinterpretation umfassen. Die Recheneinheit ist entweder direkt auf dem bildgebenden Imagermodul integriert oder wird als separate Komponente auf dem Imager-PCB (Printed Circuit Board) oder auch auf einer oder mehreren zusätzlichen PCBs in das Kameramodul integriert. Die Recheneinheit kann zum Beispiel als DSP (Digital Signal Processor), FPGA (Field Programmable GateEmbodiment of the invention comprises a plurality of intelligent camera modules, each comprising a highly integrated computing unit for decentralized image signal processing and image interpretation. The arithmetic unit is either integrated directly on the imaging imager module or is integrated as a separate component on the imager PCB (Printed Circuit Board) or on one or more additional PCBs in the camera module. The arithmetic unit can be used, for example, as DSP (Digital Signal Processor), FPGA (Field Programmable Gate
Array), μθ (Mikrocontroller), ASSP (Application Specific Standard Product), ASIC (Application Specific Integrated Circuit) oder auch als SoC (System-on-Chip) bestehend aus zwei oder mehr Signalverarbeitungseinheiten ausgeführt werden. Die Recheneinheit leistet neben der Bildinterpretation insbesondere eine nichtlineare Transformation des Eingangsbildes zur Generierung des Array), μθ (microcontroller), ASSP (Application Specific Standard Product), ASIC (Application Specific Integrated Circuit) or as SoC (system-on-chip) consisting of two or more signal processing units are executed. The arithmetic unit makes in addition to the image interpretation in particular a non-linear transformation of the input image to generate the
entsprechendes Teilbildes beziehungsweise Ausschnittes 36, 46, 56, 66 der auf dem Fahrzeugdisplay 70 anzuzeigenden Surround-View-Darstellung (Vollbild) 72. Hierbei erfolgt eine signifikante Datenreduktion ohne Informationsverlust. corresponding partial image or detail 36, 46, 56, 66 of the surround display display (full screen) 72 to be displayed on the vehicle display 70. In this case, a significant data reduction takes place without loss of information.
Die Figur 3 zeigt ein Blockschaltbild eines erfindungsgemäßen FIG. 3 shows a block diagram of an inventive device
Fahrzeugkamerasystems nach der ersten Ausführungsform der Erfindung. Vehicle camera system according to the first embodiment of the invention.
Der jeweils mittels einer nichtlinearen Transformation erzeugte Bildausschnitt (Patch) 36, 46, 56, 66 wird analog umgesetzt (NTSC/PAL) und zu einer zentralenThe image detail (patch) 36, 46, 56, 66 generated in each case by means of a nonlinear transformation is converted analogously (NTSC / PAL) and to a central image
Bildfusionseinheit 90 übertragen, sodass die Vernetzung der einzelnen intelligenten Kameramodule 30, 40, 50, 60 mit der zentralen Bildfusionseinheit 90 kostengünstig mittels der in einem Kraftfahrzeugen bereits verfügbaren Image fusion unit 90 transfer, so that the networking of the individual intelligent camera modules 30, 40, 50, 60 with the central image fusion unit 90 cost by means already available in a motor vehicle
Komponenten erfolgen kann. Components can be made.
In der Bildfusionseinheit 90 werden unter der Verwendung eines In the image fusion unit 90, using a
Multikamerakontrollers 91 die vorverarbeiteten Einzelbilder (Patches) 36, 46, 56, 66 zu einem Vollbild 71 zusammengesetzt. Dieses Vollbild 71 umfasst z.B. vier Kacheln, wobei jede Kachel ein geeignet vorverarbeitetes Einzelbild 36, 46, 56, 66 einer Kamera 30, 40, 50, 60 des Multikamerasystems 20 beinhaltet. Eine Steuerleitung 93 zur Bildfusionseinheit 90 ermöglicht das Zusammensetzen der einzelnen Kamerabilder 36, 46, 56, 66 (Vorderansicht, Seitenansichten, Rückansicht, Draufsicht) und eventuell auch einer statischen Draufsicht 1 1 des eigenen Fahrzeuges. Die analogen Bildsignale werden über die Koaxialleitungen 37, 47, 57, 67 zwischen den Kameramodulen 30, 40, 50, 60 und dem Multikamerakontroller 91 übertragen, von diesem verarbeitet und über die weitere Koaxialleitung 92 an eine Anzeigeeinheit (Head Unit - HU) 100 übertragen, die von dem Multikamerakontrollers 91 the preprocessed frames (patches) 36, 46, 56, 66 assembled into a frame 71. This frame 71 includes, for example, four tiles, each tile including a suitably preprocessed frame 36, 46, 56, 66 of a camera 30, 40, 50, 60 of the multi-camera system 20. A control line 93 to the image fusion unit 90 allows the assembly of the individual camera images 36, 46, 56, 66 (front view, side views, rear view, top view) and possibly also a static plan view 1 1 of the own vehicle. The analog image signals are transmitted via the coaxial lines 37, 47, 57, 67 between the camera modules 30, 40, 50, 60 and the multi-camera controller 91, processed by the latter and transmitted via the further coaxial line 92 to a display unit (head unit - HU) 100 that of the
Multikamerakontroller 91 weiter über die Steuerleitung 93 ein Steuersignal empfängt. Multikamerakontroller 91 on the control line 93 receives a control signal.
Das vom Multikamerakontroller 91 generierte Bildsignal kann digital weiter zu einem Vollbild 72 verarbeitet werden oder aber mittels eines Encoders wieder in ein Analog-Signal (NTSC/PAL) umgesetzt werden, um so der Anzeigeneinheit (HU) 100 direkt zugeführt zu werden. In der Anzeigeneinheit (HU) 100 wird in diesem Falle aus dem Vollbild 71 mittels einer weiteren Optimierung der The image signal generated by the multi-camera controller 91 can be digitally further processed into a frame 72 or converted back into an analog signal (NTSC / PAL) by means of an encoder so as to be fed directly to the display unit (HU) 100. In the display unit (HU) 100 is in this case from the frame 71 by means of a further optimization of
Patchkomposition oder auch mittels des Einfügens von Zusatzinformation ein weiteres Vollbild 72 erzeugt. Hier wird jedoch noch ein geringer Anteil zur Bildaufbereitung beziehungsweise Darstellung durch die Anzeigeeinheit 100 realisiert. Das Vollbild 72 wird dann auf dem von der Anzeigevorrichtung 100 umfassten Display 70 angezeigt. Patchkomposition or by means of the insertion of additional information another frame 72 generated. Here, however, still a small proportion for image processing or display by the display unit 100 is realized. The frame 72 is then displayed on the display 70 included in the display device 100.
Figur 4 zeigt ein Blockschaltbild eines erfindungsgemäßen Fahrzeugsystems 20 nach einer zweiten Ausführungsform der Erfindung. Figure 4 shows a block diagram of a vehicle system 20 according to the invention according to a second embodiment of the invention.
Wie in der Figur 4 dargestellt, umfasst die Bildfusionseinheit 90 des As shown in FIG. 4, the image fusion unit 90 of FIG
Fahrzeugkamerasystems 20 nach der zweiten Ausführungsform der Erfindung insbesondere eine zentrale Recheneinheit 1 10. Wird das digitale Ausgangssignal 71 des Multikamerakontrollers 91 in die zusätzliche, von der Bildfusionseinheit 90 umfassten Recheneinheit 1 10 eingespeist, so ist eine unabhängige Vehicle camera system 20 according to the second embodiment of the invention, in particular a central processing unit 1 10. If the digital output signal 71 of the multi-camera controller 91 is fed into the additional, comprised of the image fusion unit 90 computing unit 1 10, so is an independent
Bildaufbereitung möglich. Das Anzeigesystem 100 kann dieses aufbereitete Vollbild 72, welches analog übertragen wird, sofort und ohne Nachbearbeitung auf dem Display 70 anzeigen. Image editing possible. The display system 100 can process this Full screen 72, which is transmitted analogously, immediately and without post-processing on the display 70 show.
Die von der Bildfusionseinheit 90 des Fahrzeugsystems 20 nach der zweiten Ausführungsform der Erfindung umfasste zentrale Recheneinheit 110 kann auch zusätzlich die Möglichkeit bieten, die Patchkomposition und zusätzliche The central processing unit 110, which is included in the image fusion unit 90 of the vehicle system 20 according to the second embodiment of the invention, can also additionally offer the option of patch composition and additional
Informationen, wie Objektdetektionen eines ultraschallbasierten Park-Pilot- Systems, in dem Vollbild 71 einzuzeichnen und so ein detaillierteres Vollbild 72 zu erzeugen. Die zentrale Recheneinheit 110 hat über das Bussystem 111 Zugriff auf verschiedene Fahrzeugdaten 120, wie zum Beispiel den Lenkwinkel, die Raddrehzahlen und die Inertialsensordaten. Das Bussystem 111 kann ein CAN-Bus (Car Area Network Bus), ein LIN-Bus (Local Interconnect Network Bus) oder ein MOST-Bus (Media Oriented Systems Transport Bus) umfassen. Hier erfolgt die Übertragung der analogen Bildsignale auch über die Information, such as object detections of an ultrasound-based park-pilot system, can be drawn in the frame 71 to produce a more detailed frame 72. The central processing unit 110 has access to various vehicle data 120 via the bus system 111, such as the steering angle, the wheel speeds and the inertial sensor data. The bus system 111 may include a Car Area Network Bus (CAN), a Local Interconnect Network Bus (LIN), or a Media Oriented Systems Transport Bus (MOST). Here, the transmission of the analog image signals via the
Koaxialleitungen 37, 47, 57, 67 zwischen den Kameramodulen 30, 40, 50, 60 und dem Multikamerakontroller 91 , die von diesem verarbeitet und über die weitere Koaxialleitung 92 an die Anzeigeeinheit (HU) 100 übertragen werden, welche von dem Multikamerakontroller 91 weiter über die Steuerleitung 93 ein Steuersignal empfängt.  Coaxial lines 37, 47, 57, 67 between the camera modules 30, 40, 50, 60 and the multi-camera controller 91, which are processed by this and transmitted via the further coaxial line 92 to the display unit (HU) 100, which from the multi-camera controller 91 on the control line 93 receives a control signal.
Neben der voranstehenden schriftlichen Offenbarung wird hiermit zur weiteren Offenbarung der Erfindung ergänzend auf die Darstellung in den Figuren 2 bis 4 Bezug genommen. In addition to the above written disclosure, reference is additionally made to the disclosure in FIGS. 2 to 4 for further disclosure of the invention.

Claims

Ansprüche claims
1 . Fahrzeugkamerasystem (20) zur Bereitstellung von Bildern (71 , 72) der Fahrzeugumgebung mittels eines oder mehrerer Kameramodule (30, 40, 50, 60), die jeweils eine Kamera und eine lokale Recheneinheit umfassen, wobei die lokalen Recheneinheiten jeweils dazu ausgebildet sind, die von den zugeordneten Kameras aufgenommenen Bilder der 1 . A vehicle camera system (20) for providing images (71, 72) of the vehicle surroundings by means of one or more camera modules (30, 40, 50, 60), each comprising a camera and a local computing unit, wherein the local computing units are each adapted to pictures taken by the assigned cameras
Fahrzeugumgebung vorzuverarbeiten, dadurch gekennzeichnet, dass die Recheneinheiten jeweils mindestens einen Analogausgang zur Signalübertragung aufweisen,  Vorzuverarbeiten vehicle environment, characterized in that the computing units each have at least one analog output for signal transmission,
und das Fahrzeugkamerasystem (20) eine Bildfusionseinheit (90) aufweist, die dazu ausgebildet ist, aus den vorverarbeiteten, durch die  and the vehicle camera system (20) comprises an image fusion unit (90) adapted to be processed from the preprocessed ones
Analogausgänge der lokalen Recheneinheiten analog übertragenen Bilder (36, 46, 56, 66) der Fahrzeugumgebung mindestens ein lückenloses Vollbild (71 , 72) zumindest eines Bereichs (35, 45, 55, 65) der  Analog outputs of the local arithmetic units analog images (36, 46, 56, 66) of the vehicle environment at least one full-frame (71, 72) at least one area (35, 45, 55, 65) of
Fahrzeugumgebung zu erzeugen.  Vehicle environment to produce.
2. Fahrzeugkamerasystem (20) nach Anspruch 1 , dadurch gekennzeichnet, dass die lokalen Recheneinheiten jeweils dazu ausgebildet sind, eine Bildinterpretation der von den zugeordneten Kameras aufgenommenen Bilder der Fahrzeugumgebung durchzuführen und/oder die von den zugeordneten Kameras aufgenommenen Bilder der Fahrzeugumgebung jeweils in ein Teilbild (36, 46, 56, 66) zu transformieren, das jeweils einem vordefinierten Bildausschnitt (36, 46, 56, 66) des mindestens einen von der Bildfusionseinheit (90) erzeugten Vollbildes (71 , 72) des 2. Vehicle camera system (20) according to claim 1, characterized in that the local arithmetic units are respectively adapted to perform an image interpretation of the images taken by the associated camera images of the vehicle environment and / or taken by the associated cameras images of the vehicle environment each in a partial image (36, 46, 56, 66), each of a predefined image section (36, 46, 56, 66) of the at least one of the image fusion unit (90) generated frame (71, 72) of
Fahrzeugumgebungsbereichs (35, 45, 55, 65) entspricht.  Vehicle environment range (35, 45, 55, 65) corresponds.
3. Fahrzeugkamerasystem (20) nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Bildfusionseinheit (90) mindestens einen Analogausgang zur Signalübertragung aufweist und das 3. Vehicle camera system (20) according to any one of claims 1 or 2, characterized in that the image fusion unit (90) has at least one analog output for signal transmission and the
Fahrzeugkamerasystem (20) eine Anzeigevorrichtung (100) umfasst, die dazu ausgebildet ist, das mittels des Analogausganges der Bildfusionseinheit (90) analog übertragene Vollbild (71 , 72) des Vehicle camera system (20) comprises a display device (100) which is adapted to the means of the analog output of Image fusion unit (90) analog transmitted full frame (71, 72) of the
Fahrzeugumgebungsbereichs (35, 45, 55, 65) anzuzeigen. Vehicle environment area (35, 45, 55, 65).
Fahrzeugkamerasystem (20) nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Anzeigeeinheit (100) und/oder eine zentrale, von der Bildfusionseinheit (90) umfasste Recheneinheit (1 10) dazu ausgebildet ist, mindestens ein Vollbild (71 ) des Vehicle camera system (20) according to one of the preceding claims, characterized in that the display unit (100) and / or a central processing unit (1 10) included in the image fusion unit (90) is designed to form at least one frame (71) of the
Fahrzeugumgebungsbereichs (35, 45, 55, 65) weiter zu verarbeiten und/oder zusätzliche Informationen, insbesondere Objektdetektionen eines Objektdetektionssystems, in das mindestens eine Vollbild (71 ) des Vehicle environment area (35, 45, 55, 65) to process further and / or additional information, in particular object detections of an object detection system, in the at least one frame (71) of the
Fahrzeugumgebungsbereichs (35, 45, 55, 65) einzufügen. Vehicle environment range (35, 45, 55, 65).
Verfahren zur Bereitstellung mindestens eines lückenloses Vollbildes (71 , 72) zumindest eines Bereichs (35, 45, 55, 65) der Fahrzeugumgebung, das mittels eines Fahrzeugkamerasystems (20) nach mindestens einem der vorangehenden Ansprüche durchgeführt wird, bei dem eines oder mehrere Bilder der Fahrzeugumgebung aufgenommen und vorverarbeitet werden, und eines oder mehrere analoge Bildsignale, die jeweils einem A method for providing at least one complete image (71, 72) of at least one region (35, 45, 55, 65) of the vehicle surroundings, which is carried out by means of a vehicle camera system (20) according to at least one of the preceding claims, in which one or more images of the Vehicle environment are recorded and preprocessed, and one or more analog image signals, each one
vorverarbeiteten Bild (36, 46, 56, 66) der Fahrzeugumgebung entsprechen, erzeugt werden, wobei aus den erzeugten, analogen Bildsignalen mindestens ein Vollbildsignal, das einem lückenlosen Vollbild (71 ) zumindest eines Fahrzeugumgebungsbereichs (35, 45, 55, 65) entspricht, erzeugt wird. preprocessed image (36, 46, 56, 66) corresponding to the vehicle environment, wherein from the generated analog image signals at least one frame signal corresponding to a gapless frame (71) of at least one vehicle environment region (35, 45, 55, 65), is produced.
Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass jeweils eine Bildinterpretation der aufgenommenen Bilder der Fahrzeugumgebung durchgeführt wird und/oder die aufgenommenen Bilder der A method according to claim 5, characterized in that in each case an image interpretation of the captured images of the vehicle environment is performed and / or the captured images of the
Fahrzeugumgebung jeweils in ein Teilbild (36, 46, 56, 66), das jeweils einem vordefinierten Bildausschnitt (36, 46, 56, 66) des mindestens einen lückenlosen Vollbildes (71 , 72) des Fahrzeugumgebungsbereichs (35, 45, 55, 65) entspricht, umgewandelt werden. Vehicle environment in each case in a partial image (36, 46, 56, 66), each having a predefined image section (36, 46, 56, 66) of the at least one gap-free frame (71, 72) of the vehicle surrounding area (35, 45, 55, 65). corresponds to be converted.
Verfahren nach einem der Ansprüche 5 oder 6, dadurch gekennzeichnet, dass mindestens ein lückenloses Vollbild (71 ) des Method according to one of claims 5 or 6, characterized in that at least one gapless frame (71) of the
Fahrzeugumgebungsbereichs (35, 45, 55, 65) weiter verarbeitet wird und/oder zusätzliche Informationen, insbesondere Objektdetektionen, in das Vollbild (71 ) eingezeichnet werden. Fahrzeug (10) mit einem Fahrzeugkamerasystem (20) nach einem der Ansprüche 1 bis 4. Vehicle environment area (35, 45, 55, 65) is further processed and / or additional information, in particular object detections are drawn in the frame (71). Vehicle (10) with a vehicle camera system (20) according to one of Claims 1 to 4.
PCT/EP2012/058915 2011-06-10 2012-05-14 Vehicle camera system for providing a uninterrupted image of the vehicle surroundings and corresponding method WO2012168038A1 (en)

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